Toward navigation ability for autonomous mobile robots with learning from demonstration paradigm

Zhang, X, Zhang, J and Zhong, J ORCID: https://orcid.org/0000-0001-7642-2961, 2018. Toward navigation ability for autonomous mobile robots with learning from demonstration paradigm. International Journal of Advanced Robotic Systems, 15 (3). ISSN 1729-8814

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Abstract

Learning from demonstration, as an important component of imitation learning, is a paradigm for robot to learn new tasks. Considering the application of learning from demonstration in the navigation issue, the robot can also acquire the navigation task via the human teacher's demonstration. Based on research of the human brain neocortex, in this article, we present a learning from demonstration navigation paradigm from the perspective of hierarchical temporal memory theory. As a type of end-to-end learning form, the demonstrated relationship between perception data and motion commands will be learned and predicted by using hierarchical temporal memory. This framework first perceives images to obtain the corresponding categories information; then the categories incorporated with depth and motion command data are encoded as a sequence of sparse distributed representation vectors. The sequential vectors are treated as the inputs to train the navigation hierarchical temporal memory. After the training, the navigation hierarchical temporal memory stores the transitions of the perceived images, depth, and motion data so that future motion commands can be predicted. The performance of the proposed navigation strategy is evaluated via the real experiments and the public data sets.

Item Type:	Journal article
Publication Title:	International Journal of Advanced Robotic Systems
Creators:	Zhang, X., Zhang, J. and Zhong, J.
Publisher:	Sage
Date:	2018
Volume:	15
Number:	3
ISSN:	1729-8814
Identifiers:	Number Type 10.1177/1729881418777939 DOI
Rights:	This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage).
Divisions:	Schools > School of Science and Technology
Record created by:	Jonathan Gallacher
Date Added:	12 Sep 2019 12:43
Last Modified:	04 Oct 2019 10:39
URI:	https://irep.ntu.ac.uk/id/eprint/37644

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